| 摘要 |
PROBLEM TO BE SOLVED: To provide a method for detecting an installation state of a working robot, in which the installation state of a working robot can be accurately detected by using less man hours.SOLUTION: A revolving part 34 linked to an installation part 32 is rotated and coordinates of a target 44 are measured in at least three positions, in order to determine an installation position and an inclination of a working robot 30 on the basis of the measured coordinates. Further, a first arm 36 disposed one step closer to an end effector 42 side than the revolving part 34 is rotated and coordinates of the target 44 are measured in at least three positions, in order to determine a direction of the working robot 30 on the basis of the measured coordinates. The determined installation position, inclination, and direction of the working robot 30 are compared to reference values, and differences of the comparisons are detected as installation deviation amounts of the working robot 30.SELECTED DRAWING: Figure 2 |
